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From Prediction to Decision: World-Model-Guided Action Selection for Continuous Pile Excavation

arXiv · AI, language, vision and robotics · article · Sep 14, 2026 · UTC

Wheel-loader excavation is a sequential decision problem in which every scoop changes the terrain available to subsequent actions. A practical world model must predict action consequences accurately, rank candidates in real time, and operate inside the closed loop of a full-size machine. We present the World-Action Model (WAM), which proposes multiple scoops, rejects geometrically inadmissible candidates, jointly predicts signed terrain change and loaded volume, executes the candidate with the largest predicted load, and replans from the newly observed terrain. On 32 geometry-disjoint MinSlope

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